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<div class="title">graph_registration.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
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<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
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<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_GRAPH_REGISTRATION_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_GRAPH_REGISTRATION_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/graph_handler.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> GraphT&gt;</div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classpcl_1_1_graph_registration.html">   54</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_graph_registration.html">GraphRegistration</a></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  {</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1registration_1_1_graph_handler.html">pcl::registration::GraphHandler&lt;GraphT&gt;</a> <a class="code" href="classpcl_1_1registration_1_1_graph_handler.html">GraphHandler</a>;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::registration::GraphHandler&lt;GraphT&gt;::Ptr GraphHandlerPtr;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::registration::GraphHandler&lt;GraphT&gt;::ConstPtr GraphHandlerConstPtr;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::registration::GraphHandler&lt;GraphT&gt;::Vertex GraphHandlerVertex;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classpcl_1_1_graph_registration.html#a739dfa2a7612d122533fb6f951ec1545">   63</a></span>&#160;      <a class="code" href="classpcl_1_1_graph_registration.html#a739dfa2a7612d122533fb6f951ec1545">GraphRegistration</a> ()  : <a class="code" href="classpcl_1_1_graph_registration.html#a9c68ff0a5e9ac1ee85c494b8ab46f28c">graph_handler_</a> (new <a class="code" href="classpcl_1_1registration_1_1_graph_handler.html">GraphHandler</a>),</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;                              <a class="code" href="classpcl_1_1_graph_registration.html#a78f60c14b3b177a40062abcc7c4b4ab6">last_aligned_vertex_</a> (boost::graph_traits&lt;GraphT&gt;::null_vertex ()),</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;                              <a class="code" href="classpcl_1_1_graph_registration.html#a0aff80925bdbe14a7221f3ffc4d14a7c">last_vertices_</a> ()</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      {}</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      </div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classpcl_1_1_graph_registration.html#add25bbd370c800a0bbecedb20f7cd7ba">   69</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_graph_registration.html#add25bbd370c800a0bbecedb20f7cd7ba">~GraphRegistration</a> () {}</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classpcl_1_1_graph_registration.html#af31ea898bd6178b5e0be6abb35fef5c2">   73</a></span>&#160;      <a class="code" href="classpcl_1_1_graph_registration.html#af31ea898bd6178b5e0be6abb35fef5c2">addPointCloud</a> (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr&amp; cloud, <span class="keyword">const</span> Eigen::Matrix4f&amp; pose)</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      {</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <a class="code" href="classpcl_1_1_graph_registration.html#a0aff80925bdbe14a7221f3ffc4d14a7c">last_vertices_</a>.push_back (<a class="code" href="classpcl_1_1_graph_registration.html#a9c68ff0a5e9ac1ee85c494b8ab46f28c">graph_handler_</a>-&gt;addPointCloud (cloud, pose));</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      }</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classpcl_1_1_graph_registration.html#a31ea5270111537b81b4c33eba2e67c02">   80</a></span>&#160;      <a class="code" href="classpcl_1_1_graph_registration.html#a31ea5270111537b81b4c33eba2e67c02">setGraphHandler</a> (GraphHandlerPtr&amp; gh)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      {</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <a class="code" href="classpcl_1_1_graph_registration.html#a9c68ff0a5e9ac1ee85c494b8ab46f28c">graph_handler_</a> = gh;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      }</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keyword">inline</span> GraphHandlerPtr</div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classpcl_1_1_graph_registration.html#aefb9136644212badc25f4f8d395d369f">   87</a></span>&#160;      <a class="code" href="classpcl_1_1_graph_registration.html#aefb9136644212badc25f4f8d395d369f">getGraphHandler</a> ()</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      {</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_graph_registration.html#a9c68ff0a5e9ac1ee85c494b8ab46f28c">graph_handler_</a>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      }</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="keyword">inline</span> GraphHandlerConstPtr</div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classpcl_1_1_graph_registration.html#afdb661dd97ce65acde21011e6dc810f4">   94</a></span>&#160;      <a class="code" href="classpcl_1_1_graph_registration.html#afdb661dd97ce65acde21011e6dc810f4">getGraphHandler</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_graph_registration.html#a9c68ff0a5e9ac1ee85c494b8ab46f28c">graph_handler_</a>;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      }</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classpcl_1_1_graph_registration.html#aa5031e1f83ac059fa6d4101dcfd85515">  103</a></span>&#160;      <a class="code" href="classpcl_1_1_graph_registration.html#aa5031e1f83ac059fa6d4101dcfd85515">compute</a> ()</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      {</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_graph_registration.html#a0aff80925bdbe14a7221f3ffc4d14a7c">last_vertices_</a>.empty ())</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;          <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <a class="code" href="classpcl_1_1_graph_registration.html#aabbb285231973653c2b4bf47ad891ee8">computeRegistration</a> ();</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <a class="code" href="classpcl_1_1_graph_registration.html#a78f60c14b3b177a40062abcc7c4b4ab6">last_aligned_vertex_</a> = <a class="code" href="classpcl_1_1_graph_registration.html#a0aff80925bdbe14a7221f3ffc4d14a7c">last_vertices_</a>.back ();</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <a class="code" href="classpcl_1_1_graph_registration.html#a0aff80925bdbe14a7221f3ffc4d14a7c">last_vertices_</a>.clear ();</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1_graph_registration.html#a9c68ff0a5e9ac1ee85c494b8ab46f28c">  114</a></span>&#160;      GraphHandlerPtr <a class="code" href="classpcl_1_1_graph_registration.html#a9c68ff0a5e9ac1ee85c494b8ab46f28c">graph_handler_</a>;</div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classpcl_1_1_graph_registration.html#a78f60c14b3b177a40062abcc7c4b4ab6">  116</a></span>&#160;      GraphHandlerVertex <a class="code" href="classpcl_1_1_graph_registration.html#a78f60c14b3b177a40062abcc7c4b4ab6">last_aligned_vertex_</a>;</div>
<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classpcl_1_1_graph_registration.html#a0aff80925bdbe14a7221f3ffc4d14a7c">  118</a></span>&#160;      std::vector&lt;GraphHandlerVertex&gt; <a class="code" href="classpcl_1_1_graph_registration.html#a0aff80925bdbe14a7221f3ffc4d14a7c">last_vertices_</a>;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1_graph_registration.html#aabbb285231973653c2b4bf47ad891ee8">  123</a></span>&#160;      <a class="code" href="classpcl_1_1_graph_registration.html#aabbb285231973653c2b4bf47ad891ee8">computeRegistration</a> () = 0;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  };</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;}</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_GRAPH_REGISTRATION_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_graph_registration_html"><div class="ttname"><a href="classpcl_1_1_graph_registration.html">pcl::GraphRegistration</a></div><div class="ttdoc">GraphRegistration class is the base class for graph-based registration methods</div><div class="ttdef"><b>Definition:</b> graph_registration.h:55</div></div>
<div class="ttc" id="aclasspcl_1_1_graph_registration_html_a0aff80925bdbe14a7221f3ffc4d14a7c"><div class="ttname"><a href="classpcl_1_1_graph_registration.html#a0aff80925bdbe14a7221f3ffc4d14a7c">pcl::GraphRegistration::last_vertices_</a></div><div class="ttdeci">std::vector&lt; GraphHandlerVertex &gt; last_vertices_</div><div class="ttdoc">The vertices added to the graph since the last call to compute</div><div class="ttdef"><b>Definition:</b> graph_registration.h:118</div></div>
<div class="ttc" id="aclasspcl_1_1_graph_registration_html_a31ea5270111537b81b4c33eba2e67c02"><div class="ttname"><a href="classpcl_1_1_graph_registration.html#a31ea5270111537b81b4c33eba2e67c02">pcl::GraphRegistration::setGraphHandler</a></div><div class="ttdeci">void setGraphHandler(GraphHandlerPtr &amp;gh)</div><div class="ttdoc">Set the graph handler</div><div class="ttdef"><b>Definition:</b> graph_registration.h:80</div></div>
<div class="ttc" id="aclasspcl_1_1_graph_registration_html_a739dfa2a7612d122533fb6f951ec1545"><div class="ttname"><a href="classpcl_1_1_graph_registration.html#a739dfa2a7612d122533fb6f951ec1545">pcl::GraphRegistration::GraphRegistration</a></div><div class="ttdeci">GraphRegistration()</div><div class="ttdoc">Empty constructor</div><div class="ttdef"><b>Definition:</b> graph_registration.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1_graph_registration_html_a78f60c14b3b177a40062abcc7c4b4ab6"><div class="ttname"><a href="classpcl_1_1_graph_registration.html#a78f60c14b3b177a40062abcc7c4b4ab6">pcl::GraphRegistration::last_aligned_vertex_</a></div><div class="ttdeci">GraphHandlerVertex last_aligned_vertex_</div><div class="ttdoc">The last estimated pose</div><div class="ttdef"><b>Definition:</b> graph_registration.h:116</div></div>
<div class="ttc" id="aclasspcl_1_1_graph_registration_html_a9c68ff0a5e9ac1ee85c494b8ab46f28c"><div class="ttname"><a href="classpcl_1_1_graph_registration.html#a9c68ff0a5e9ac1ee85c494b8ab46f28c">pcl::GraphRegistration::graph_handler_</a></div><div class="ttdeci">GraphHandlerPtr graph_handler_</div><div class="ttdoc">The graph handler</div><div class="ttdef"><b>Definition:</b> graph_registration.h:114</div></div>
<div class="ttc" id="aclasspcl_1_1_graph_registration_html_aa5031e1f83ac059fa6d4101dcfd85515"><div class="ttname"><a href="classpcl_1_1_graph_registration.html#aa5031e1f83ac059fa6d4101dcfd85515">pcl::GraphRegistration::compute</a></div><div class="ttdeci">void compute()</div><div class="ttdoc">Check if new poses have been added, then call the registration method which is implemented by the sub...</div><div class="ttdef"><b>Definition:</b> graph_registration.h:103</div></div>
<div class="ttc" id="aclasspcl_1_1_graph_registration_html_aabbb285231973653c2b4bf47ad891ee8"><div class="ttname"><a href="classpcl_1_1_graph_registration.html#aabbb285231973653c2b4bf47ad891ee8">pcl::GraphRegistration::computeRegistration</a></div><div class="ttdeci">virtual void computeRegistration()=0</div><div class="ttdoc">The registration method</div></div>
<div class="ttc" id="aclasspcl_1_1_graph_registration_html_add25bbd370c800a0bbecedb20f7cd7ba"><div class="ttname"><a href="classpcl_1_1_graph_registration.html#add25bbd370c800a0bbecedb20f7cd7ba">pcl::GraphRegistration::~GraphRegistration</a></div><div class="ttdeci">virtual ~GraphRegistration()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> graph_registration.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_graph_registration_html_aefb9136644212badc25f4f8d395d369f"><div class="ttname"><a href="classpcl_1_1_graph_registration.html#aefb9136644212badc25f4f8d395d369f">pcl::GraphRegistration::getGraphHandler</a></div><div class="ttdeci">GraphHandlerPtr getGraphHandler()</div><div class="ttdoc">Get a pointer to the graph handler</div><div class="ttdef"><b>Definition:</b> graph_registration.h:87</div></div>
<div class="ttc" id="aclasspcl_1_1_graph_registration_html_af31ea898bd6178b5e0be6abb35fef5c2"><div class="ttname"><a href="classpcl_1_1_graph_registration.html#af31ea898bd6178b5e0be6abb35fef5c2">pcl::GraphRegistration::addPointCloud</a></div><div class="ttdeci">void addPointCloud(const typename pcl::PointCloud&lt; PointT &gt;::ConstPtr &amp;cloud, const Eigen::Matrix4f &amp;pose)</div><div class="ttdoc">Add a point cloud and the associated camera pose to the graph</div><div class="ttdef"><b>Definition:</b> graph_registration.h:73</div></div>
<div class="ttc" id="aclasspcl_1_1_graph_registration_html_afdb661dd97ce65acde21011e6dc810f4"><div class="ttname"><a href="classpcl_1_1_graph_registration.html#afdb661dd97ce65acde21011e6dc810f4">pcl::GraphRegistration::getGraphHandler</a></div><div class="ttdeci">GraphHandlerConstPtr getGraphHandler() const</div><div class="ttdoc">Get a pointer to the graph handler</div><div class="ttdef"><b>Definition:</b> graph_registration.h:94</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_graph_handler_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_graph_handler.html">pcl::registration::GraphHandler</a></div><div class="ttdoc">GraphHandler class is a wrapper for a general SLAM graph The actual graph class must fulfil the follo...</div><div class="ttdef"><b>Definition:</b> graph_handler.h:83</div></div>
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